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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li>  </ul>
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<div class="title">shape_group.h</div>  </div>
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<a href="shape__group_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef SHAPE_GROUP_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define SHAPE_GROUP_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="application_8h.html">collision/application.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object_8h.html">collision/collision_object.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="polygon_8h.html">collision/narrowphase/polygon.h</a>&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/narrowphase/shape.h</a>&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__fcl__collision__object__group_8h.html">collision/solvers/fcl/i_fcl_collision_object_group.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__collision__container_8h.html">collision/i_collision_container.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="namespacecollision.html#af24641d42ec64244029573bf00ab35ae">   22</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;ShapeGroup&gt; <a class="code" href="namespacecollision.html#af24641d42ec64244029573bf00ab35ae">ShapeGroupPtr</a>;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="namespacecollision.html#ac6a8cd2f0dcc88a593ef90363580416a">   23</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;const ShapeGroup&gt; <a class="code" href="namespacecollision.html#ac6a8cd2f0dcc88a593ef90363580416a">ShapeGroupConstPtr</a>;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html">   33</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_collision_object_ex.html">CollisionObjectEx</a>,</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                   <span class="keyword">public</span> <a class="code" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a>,</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                   <span class="keyword">public</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html">IFCLCollisionObjectGroup</a> {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS == 1</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classcollision_1_1test_1_1_shape_group_test.html">collision::test::ShapeGroupTest</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a87149f9541b5c74c56d437514118bb67">   42</a></span>&#160;  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">ISolverEntity_FCL</a> *<a class="code" href="classcollision_1_1_shape_group.html#a87149f9541b5c74c56d437514118bb67">getFclInterface</a>()<span class="keyword"> const override </span>{</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">this</span>;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  }</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a1c5a587659bca49f258665593e356920">   46</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> <a class="code" href="classcollision_1_1_shape_group.html#a1c5a587659bca49f258665593e356920">getFclEntityType</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">FCL_COLLISION_ENTITY_TYPE::COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  }</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_shape_group.html#add8e127504ac6e95176a1709e132342a">getCollisionObjects</a>(std::vector&lt;<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *&gt;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                              &amp;obj_vec) <span class="keyword">const override</span>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a98435b3f0d8a04eeb75bb3cba7d338e2">   53</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> <a class="code" href="classcollision_1_1_shape_group.html#a98435b3f0d8a04eeb75bb3cba7d338e2">getCollisionObjectType</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a40b6ff42a2e8947664fc0f2d94f030d7">CollisionObjectType::OBJ_TYPE_SHAPEGROUP</a>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  }</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#aa177b8b69d8d63598580c2d4f4d194c1">   56</a></span>&#160;  <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a> <a class="code" href="classcollision_1_1_shape_group.html#aa177b8b69d8d63598580c2d4f4d194c1">getCollisionObjectClass</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843faf648a77a45f5fe39b02aec4e297ca12f">CollisionObjectClass::OBJ_CLASS_SHAPEGROUP</a>;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  }</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a8c03ac637224437c0a799b5aded85314">   60</a></span>&#160;  <a class="code" href="classcollision_1_1_shape_group.html#a8c03ac637224437c0a799b5aded85314">ShapeGroup</a>() {}</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a8385de01d17ba83f0c2029bdcb472a35">   62</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1_shape_group.html#a8385de01d17ba83f0c2029bdcb472a35">~ShapeGroup</a>() {}</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#af7dae6147a3aac8fbd5342fe01765e34">toString</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_shape_group.html#ac6c6b853e11e3ae499f47b67855e4b1a">rayTrace</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1, <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                std::vector&lt;LineSegment&gt; &amp;intersect) <span class="keyword">const</span>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_shape_group.html#acb0954e873b8ebfdeafd277d98e967dc">elementCount</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  std::vector&lt;std::set&lt;int&gt;&gt; <a class="code" href="classcollision_1_1_shape_group.html#a8529ebb9d75bcccd8890b2ce92aba4f8">overlapMap</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;sg) <span class="keyword">const</span>;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  std::vector&lt;std::pair&lt;int, int&gt;&gt; <a class="code" href="classcollision_1_1_shape_group.html#aa2be19ed418e67c3351ae7e76ba2c78f">overlap</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;sg) <span class="keyword">const</span>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#afb47ff923d88542916722482044654f7">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="classcollision_1_1_shape_group.html#aa93ceeb9c9ad8722e6ff4f611cb2feb3">timeSlice</a>(<span class="keywordtype">int</span> time_idx, <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) <span class="keyword">const</span>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">addToGroup</a>(<a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> shape);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  std::vector&lt;ShapeConstPtr&gt; <a class="code" href="classcollision_1_1_shape_group.html#a795d9f262bafe8c33ebb33d8046e4073">unpack</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <a class="code" href="classcollision_1_1serialize_1_1_i_collision_object_export.html">serialize::ICollisionObjectExport</a> *exportThis(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#ac46157b51daf99fdb5548cd233e76a14">   84</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *<a class="code" href="classcollision_1_1_shape_group.html#ac46157b51daf99fdb5548cd233e76a14">getContainerInterface</a>(<span class="keywordtype">void</span>)<span class="keyword"> const override </span>{</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">this</span>;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  }</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#aa3a3e740ded6cd1b6207ea85bcffd99c">addParentMap</a>(</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      std::unordered_map&lt;<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *,</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                         std::list&lt;CollisionObjectConstPtr&gt;&gt; &amp;parent_map) <span class="keyword">const</span>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape_group.html#aa3a3e740ded6cd1b6207ea85bcffd99c">addParentMap</a>(</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      std::unordered_map&lt;<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *,</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                         std::list&lt;CollisionObjectConstPtr&gt;&gt; &amp;parent_map,</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> parent) <span class="keyword">const</span>;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_shape_group.html#a933e2518682ca55b46f6c2d164b0b082">queryContainedObjectIndexList</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *,</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                                    std::list&lt;int&gt; &amp;retlist) <span class="keyword">const override</span>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a654bb4a07dd22c21ddeb6d51541aa429">  100</a></span>&#160;  std::vector&lt;ShapeConstPtr&gt; <a class="code" href="classcollision_1_1_shape_group.html#a654bb4a07dd22c21ddeb6d51541aa429">shapes_</a>;</div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape_group.html#a08ac93521a7fe97306acfc5cb3fa12a7">  101</a></span>&#160;  std::unordered_map&lt;const CollisionObject *, std::list&lt;int&gt;&gt; <a class="code" href="classcollision_1_1_shape_group.html#a08ac93521a7fe97306acfc5cb3fa12a7">shapes_map_</a>;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">int</span> addToIndex(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;, <span class="keywordtype">int</span> idx);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <a class="code" href="classcollision_1_1_shape_group.html#a8c03ac637224437c0a799b5aded85314">ShapeGroup</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;operator=(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;){};</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;};</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classcollision_1_1_i_collision_container_html"><div class="ttname"><a href="classcollision_1_1_i_collision_container.html">collision::ICollisionContainer</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__container_8h_source.html#l00014">i_collision_container.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">collision::solvers::solverFCL::ISolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="i__solver__entity__fcl_8h_source.html#l00011">i_solver_entity_fcl.h:11</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a8529ebb9d75bcccd8890b2ce92aba4f8"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a8529ebb9d75bcccd8890b2ce92aba4f8">collision::ShapeGroup::overlapMap</a></div><div class="ttdeci">std::vector&lt; std::set&lt; int &gt; &gt; overlapMap(const ShapeGroup &amp;sg) const</div><div class="ttdoc">Returns lists of all objects from the other ShapeGroup that collide with each object of this ShapeGro...</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00033">shape_group.cc:33</a></div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html">collision::test::ShapeGroupTest</a></div><div class="ttdef"><b>Definition:</b> <a href="broadphase__test_8h_source.html#l00088">broadphase_test.h:88</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_aa93ceeb9c9ad8722e6ff4f611cb2feb3"><div class="ttname"><a href="classcollision_1_1_shape_group.html#aa93ceeb9c9ad8722e6ff4f611cb2feb3">collision::ShapeGroup::timeSlice</a></div><div class="ttdeci">virtual CollisionObjectConstPtr timeSlice(int time_idx, CollisionObjectConstPtr shared_ptr_this) const</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00122">shape_group.cc:122</a></div></div>
<div class="ttc" id="namespacecollision_html_aeb672fde41a9aa0fcc1c5da8af2e4657"><div class="ttname"><a href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">collision::ShapeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const Shape &gt; ShapeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00098">collision_object.h:98</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00018">fcl_entity_type.h:18</a></div></div>
<div class="ttc" id="application_8h_html"><div class="ttname"><a href="application_8h.html">application.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">collision::solvers::solverFCL::FCL_COLLISION_ENTITY_TYPE</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00014">fcl_entity_type.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a795d9f262bafe8c33ebb33d8046e4073"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a795d9f262bafe8c33ebb33d8046e4073">collision::ShapeGroup::unpack</a></div><div class="ttdeci">std::vector&lt; ShapeConstPtr &gt; unpack() const</div><div class="ttdoc">Returns Vector of all shapes contained inside the ShapeGroup.</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00150">shape_group.cc:150</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">collision::CollisionObjectType</a></div><div class="ttdeci">CollisionObjectType</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00016">collision_object_types.h:16</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html"><div class="ttname"><a href="classcollision_1_1_shape_group.html">collision::ShapeGroup</a></div><div class="ttdoc">ShapeGroup can contain simple shapes.</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00033">shape_group.h:33</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html">collision::solvers::solverFCL::IFCLCollisionObjectGroup</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object__group_8h_source.html#l00012">i_fcl_collision_object_group.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a98435b3f0d8a04eeb75bb3cba7d338e2"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a98435b3f0d8a04eeb75bb3cba7d338e2">collision::ShapeGroup::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00053">shape_group.h:53</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_ac6c6b853e11e3ae499f47b67855e4b1a"><div class="ttname"><a href="classcollision_1_1_shape_group.html#ac6c6b853e11e3ae499f47b67855e4b1a">collision::ShapeGroup::rayTrace</a></div><div class="ttdeci">bool rayTrace(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect) const</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00054">shape_group.cc:54</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_html_ac6a8cd2f0dcc88a593ef90363580416a"><div class="ttname"><a href="namespacecollision.html#ac6a8cd2f0dcc88a593ef90363580416a">collision::ShapeGroupConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const ShapeGroup &gt; ShapeGroupConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00023">shape_group.h:23</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_af7dae6147a3aac8fbd5342fe01765e34"><div class="ttname"><a href="classcollision_1_1_shape_group.html#af7dae6147a3aac8fbd5342fe01765e34">collision::ShapeGroup::toString</a></div><div class="ttdeci">void toString(std::ostringstream &amp;stream) const</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00112">shape_group.cc:112</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_acb0954e873b8ebfdeafd277d98e967dc"><div class="ttname"><a href="classcollision_1_1_shape_group.html#acb0954e873b8ebfdeafd277d98e967dc">collision::ShapeGroup::elementCount</a></div><div class="ttdeci">int elementCount(void) const</div><div class="ttdoc">Returns count of contained objects.</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00052">shape_group.cc:52</a></div></div>
<div class="ttc" id="classcollision_1_1serialize_1_1_i_collision_object_export_html"><div class="ttname"><a href="classcollision_1_1serialize_1_1_i_collision_object_export.html">collision::serialize::ICollisionObjectExport</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__object__export_8h_source.html#l00008">i_collision_object_export.h:8</a></div></div>
<div class="ttc" id="i__fcl__collision__object__group_8h_html"><div class="ttname"><a href="i__fcl__collision__object__group_8h.html">i_fcl_collision_object_group.h</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a1c5a587659bca49f258665593e356920"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a1c5a587659bca49f258665593e356920">collision::ShapeGroup::getFclEntityType</a></div><div class="ttdeci">virtual FCL_COLLISION_ENTITY_TYPE getFclEntityType(void) const</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00046">shape_group.h:46</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_aa2be19ed418e67c3351ae7e76ba2c78f"><div class="ttname"><a href="classcollision_1_1_shape_group.html#aa2be19ed418e67c3351ae7e76ba2c78f">collision::ShapeGroup::overlap</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; int, int &gt; &gt; overlap(const ShapeGroup &amp;sg) const</div><div class="ttdoc">Returns Vector of pairs of indexes of the intersecting objects within the ShapeGroup and another Shap...</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00073">shape_group.cc:73</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a8385de01d17ba83f0c2029bdcb472a35"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a8385de01d17ba83f0c2029bdcb472a35">collision::ShapeGroup::~ShapeGroup</a></div><div class="ttdeci">virtual ~ShapeGroup()</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00062">shape_group.h:62</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_afb47ff923d88542916722482044654f7"><div class="ttname"><a href="classcollision_1_1_shape_group.html#afb47ff923d88542916722482044654f7">collision::ShapeGroup::print</a></div><div class="ttdeci">virtual void print(std::ostringstream &amp;stream) const</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00110">shape_group.cc:110</a></div></div>
<div class="ttc" id="i__collision__container_8h_html"><div class="ttname"><a href="i__collision__container_8h.html">i_collision_container.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a6e97ae92656250cd1667b6a73100843faf648a77a45f5fe39b02aec4e297ca12f"><div class="ttname"><a href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843faf648a77a45f5fe39b02aec4e297ca12f">collision::OBJ_CLASS_SHAPEGROUP</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00010">collision_object_types.h:10</a></div></div>
<div class="ttc" id="namespacecollision_html_a6e97ae92656250cd1667b6a73100843f"><div class="ttname"><a href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">collision::CollisionObjectClass</a></div><div class="ttdeci">CollisionObjectClass</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00007">collision_object_types.h:7</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a933e2518682ca55b46f6c2d164b0b082"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a933e2518682ca55b46f6c2d164b0b082">collision::ShapeGroup::queryContainedObjectIndexList</a></div><div class="ttdeci">int queryContainedObjectIndexList(const CollisionObject *, std::list&lt; int &gt; &amp;retlist) const override</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00099">shape_group.cc:99</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a08ac93521a7fe97306acfc5cb3fa12a7"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a08ac93521a7fe97306acfc5cb3fa12a7">collision::ShapeGroup::shapes_map_</a></div><div class="ttdeci">std::unordered_map&lt; const CollisionObject *, std::list&lt; int &gt; &gt; shapes_map_</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00101">shape_group.h:101</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a8c03ac637224437c0a799b5aded85314"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a8c03ac637224437c0a799b5aded85314">collision::ShapeGroup::ShapeGroup</a></div><div class="ttdeci">ShapeGroup()</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00060">shape_group.h:60</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_add8e127504ac6e95176a1709e132342a"><div class="ttname"><a href="classcollision_1_1_shape_group.html#add8e127504ac6e95176a1709e132342a">collision::ShapeGroup::getCollisionObjects</a></div><div class="ttdeci">int getCollisionObjects(std::vector&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; * &gt; &amp;obj_vec) const override</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00007">shape_group.cc:7</a></div></div>
<div class="ttc" id="collision__object_8h_html"><div class="ttname"><a href="collision__object_8h.html">collision_object.h</a></div></div>
<div class="ttc" id="polygon_8h_html"><div class="ttname"><a href="polygon_8h.html">polygon.h</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a654bb4a07dd22c21ddeb6d51541aa429"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a654bb4a07dd22c21ddeb6d51541aa429">collision::ShapeGroup::shapes_</a></div><div class="ttdeci">std::vector&lt; ShapeConstPtr &gt; shapes_</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00100">shape_group.h:100</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a40b6ff42a2e8947664fc0f2d94f030d7"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a40b6ff42a2e8947664fc0f2d94f030d7">collision::OBJ_TYPE_SHAPEGROUP</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00024">collision_object_types.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a87149f9541b5c74c56d437514118bb67"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a87149f9541b5c74c56d437514118bb67">collision::ShapeGroup::getFclInterface</a></div><div class="ttdeci">virtual const ISolverEntity_FCL * getFclInterface() const override</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00042">shape_group.h:42</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a0a570ef4b0d6ee7ea2f2f1721d528a43"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">collision::ShapeGroup::addToGroup</a></div><div class="ttdeci">void addToGroup(ShapeConstPtr shape)</div><div class="ttdoc">Adds a simple shape to the ShapeGroup.</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00139">shape_group.cc:139</a></div></div>
<div class="ttc" id="namespacecollision_html_af24641d42ec64244029573bf00ab35ae"><div class="ttname"><a href="namespacecollision.html#af24641d42ec64244029573bf00ab35ae">collision::ShapeGroupPtr</a></div><div class="ttdeci">std::shared_ptr&lt; ShapeGroup &gt; ShapeGroupPtr</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00022">shape_group.h:22</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_ac46157b51daf99fdb5548cd233e76a14"><div class="ttname"><a href="classcollision_1_1_shape_group.html#ac46157b51daf99fdb5548cd233e76a14">collision::ShapeGroup::getContainerInterface</a></div><div class="ttdeci">const ICollisionContainer * getContainerInterface(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00084">shape_group.h:84</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_aa3a3e740ded6cd1b6207ea85bcffd99c"><div class="ttname"><a href="classcollision_1_1_shape_group.html#aa3a3e740ded6cd1b6207ea85bcffd99c">collision::ShapeGroup::addParentMap</a></div><div class="ttdeci">virtual void addParentMap(std::unordered_map&lt; const CollisionObject *, std::list&lt; CollisionObjectConstPtr &gt;&gt; &amp;parent_map) const</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00161">shape_group.cc:161</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></div><div class="ttdoc">Provides functionality to use different collision solvers.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8h_source.html#l00024">collision_object_ex.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_aa177b8b69d8d63598580c2d4f4d194c1"><div class="ttname"><a href="classcollision_1_1_shape_group.html#aa177b8b69d8d63598580c2d4f4d194c1">collision::ShapeGroup::getCollisionObjectClass</a></div><div class="ttdeci">CollisionObjectClass getCollisionObjectClass() const</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00056">shape_group.h:56</a></div></div>
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